This section contains diagrams for the main PX4 controllers.
The diagrams use the standard PX4 notation (and each have an annotated legend).
Multicopter Position Controller
- Estimates come from EKF2.
- This is a standard cascaded position-velocity loop.
- Depending on the mode, the outer (position) loop is bypassed (shown as a multiplexer after the outer loop). The position loop is only used when holding position or when the requested velocity in an axis is null.
- The integrator in the inner loop (velocity) controller includes an anti-reset windup (ARW) using a clamping method.